The Apple TV app is available on select 2018, 2019, and 2020 (N, R, and T model) Samsung smart TVs, Lifestyle TVs, QLED TVs, and QLED 8K models. It is also available on Apple TV, Roku, and Amazon streaming devices. For a full list of compatible devices, check out Apple support. You do not even need to download it because it will appear in the Apps section on your TV.
Note: If the Apple TV or Apple Music app does not appear in apps, then it is not compatible with your TV.